TY - JOUR
T1 - A velocity-based dynamic model and its properties for differential drive mobile robots
AU - Martins, Felipe N.
AU - Sarcinelli-Filho, Mário
AU - Carelli, Ricardo
N1 - DBLP License: DBLP's bibliographic metadata records provided through http://dblp.org/ are distributed under a Creative Commons CC0 1.0 Universal Public Domain Dedication. Although the bibliographic metadata records are provided consistent with CC0 1.0 Dedication, the content described by the metadata records is not. Content may be subject to copyright, rights of privacy, rights of publicity and other restrictions.
PY - 2017/2/1
Y1 - 2017/2/1
N2 - An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.
AB - An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.
KW - robot dynamics and control
KW - mobile robots
KW - dynamic modelling
KW - adaptive control
KW - robotica
UR - https://www.mendeley.com/catalogue/ab884c30-add2-31c8-bd29-14eb9cdd4486/
U2 - 10.1007/s10846-016-0381-9
DO - 10.1007/s10846-016-0381-9
M3 - Article
SN - 1573-0409
VL - 85
SP - 277
EP - 292
JO - Journal of Intelligent and Robotic Systems
JF - Journal of Intelligent and Robotic Systems
IS - 2
M1 - 2
ER -